// [ref] ${IVT_HOME}/examples/ParticleFilterDemo/src/main.cpp
void particle_filter_example()
{
const int NUMBER_OF_PARTICLES = 200;
const int width = 400;
const int height = 300;
CByteImage image(width, height, CByteImage::eGrayScale);
CByteImage color(width, height, CByteImage::eRGB24);
MyRegion region;
int k = 40;
#ifdef TRACK_3D
double result_configuration[DIMENSION_3D];
CParticleFilter3D particle_filter(NUMBER_OF_PARTICLES, width, height, k);
#else
double result_configuration[DIMENSION_2D];
CParticleFilter2D particle_filter(NUMBER_OF_PARTICLES, width, height, k);
#endif
// gui
CApplicationHandlerInterface *pApplicationHandler = CreateApplicationHandler();
pApplicationHandler->Reset();
CMainWindowInterface *pMainWindow = CreateMainWindow(0, 0, width, height, "Particle Filter Demo");
WIDGET_HANDLE pImageWidget = pMainWindow->AddImage(0, 0, width, height);
pMainWindow->Show();
for (int i = 0; i < 600; ++i)
{
unsigned int t = get_timer_value(true);
local::SimulateMovement(&image);
particle_filter.SetImage(&image);
particle_filter.ParticleFilter(result_configuration);
#ifdef TRACK_3D
k = int(result_configuration[2] + 0.5);
#endif
region.min_x = int(result_configuration[0] - k + 0.5);
region.min_y = int(result_configuration[1] - k + 0.5);
region.max_x = int(result_configuration[0] + k + 0.5);
region.max_y = int(result_configuration[1] + k + 0.5);
ImageProcessor::ConvertImage(&image, &color);
PrimitivesDrawer::DrawRegion(&color, region, 255, 0, 0, 2);
pMainWindow->SetImage(pImageWidget, &color);
if (pApplicationHandler->ProcessEventsAndGetExit())
break;
while (get_timer_value() - t < 1000000.0 / 30);
}
delete pMainWindow;
delete pApplicationHandler;
}
int Run()
{
const int width = 640;
const int height = 480;
const int nPixels = width * height;
m_pImage = new CByteImage(width, height, CByteImage::eRGB24);
ImageProcessor::Zero(m_pImage);
// create an application handler
CApplicationHandlerInterface *pApplicationHandler = CreateApplicationHandler();
pApplicationHandler->Reset();
// create a window with many widgets
m_pMainWindow = CreateMainWindow(0, 0, width + 440, height, "HSV to RGB Converter");
m_pMainWindow->SetEventCallback(this);
m_pImageWidget = m_pMainWindow->AddImage(0, 0, width, height);
m_pLCD_H = m_pMainWindow->AddTextEdit(width + 50 , 230, 100, 50, "0");
m_pLCD_S = m_pMainWindow->AddTextEdit(width + 160, 230, 100, 50, "0");
m_pLCD_V = m_pMainWindow->AddTextEdit(width + 270, 230, 100, 50, "0");
m_pLCD_R = m_pMainWindow->AddTextEdit(width + 50 , 290, 100, 50, "0");
m_pLCD_G = m_pMainWindow->AddTextEdit(width + 160, 290, 100, 50, "0");
m_pLCD_B = m_pMainWindow->AddTextEdit(width + 270, 290, 100, 50, "0");
m_pSliderH = m_pMainWindow->AddSlider(width + 40, 20, 380, 20, 0, 359, 36, 0);
m_pSliderS = m_pMainWindow->AddSlider(width + 40, 50, 380, 20, 0, 255, 25, 0);
m_pSliderV = m_pMainWindow->AddSlider(width + 40, 80, 380, 20, 0, 255, 25, 0);
m_pSliderR = m_pMainWindow->AddSlider(width + 40, 120, 380, 20, 0, 255, 25, 0);
m_pSliderG = m_pMainWindow->AddSlider(width + 40, 150, 380, 20, 0, 255, 25, 0);
m_pSliderB = m_pMainWindow->AddSlider(width + 40, 180, 380, 20, 0, 255, 25, 0);
WIDGET_HANDLE pLabelH = m_pMainWindow->AddLabel(width + 20, 20, 10, 20, "H");
WIDGET_HANDLE pLabelS = m_pMainWindow->AddLabel(width + 20, 50, 10, 20, "S");
WIDGET_HANDLE pLabelV = m_pMainWindow->AddLabel(width + 20, 80, 10, 20, "V");
WIDGET_HANDLE pLabelR = m_pMainWindow->AddLabel(width + 20, 120, 10, 20, "R");
WIDGET_HANDLE pLabelG = m_pMainWindow->AddLabel(width + 20, 150, 10, 20, "G");
WIDGET_HANDLE pLabelB = m_pMainWindow->AddLabel(width + 20, 180, 10, 20, "B");
WIDGET_HANDLE pLabelHSV = m_pMainWindow->AddLabel(width + 20, 245, 30, 20, "HSV");
WIDGET_HANDLE pLabelRGB = m_pMainWindow->AddLabel(width + 20, 305, 30, 20, "RGB");
m_pMainWindow->Show();
m_pMainWindow->SetImage(m_pImageWidget, m_pImage);
// main loop
for (int i = 0;; i++)
{
if (pApplicationHandler->ProcessEventsAndGetExit())
break;
}
delete m_pMainWindow;
delete pApplicationHandler;
delete m_pImage;
return 0;
}
// init application and run
int Run()
{
CBitmapCapture capture(DEMO_IMAGE);
// open camera
if (!capture.OpenCamera())
{
printf("error: could not open camera\n");
return 1;
}
const int width = capture.GetWidth();
const int height = capture.GetHeight();
// create temp image for the image processing
CByteImage image(width, height, capture.GetType());
CByteImage grayImage(width, height, CByteImage::eGrayScale);
CByteImage tempImage(width, height, CByteImage::eGrayScale);
CByteImage visualizationImage(width, height, CByteImage::eRGB24);
CByteImage *pImage = ℑ
// create an application handler
CApplicationHandlerInterface *pApplicationHandler = CreateApplicationHandler();
pApplicationHandler->Reset();
// create a main window
m_pMainWindow = CreateMainWindow(0, 0, width, height + 190, "Hough Line Detection Demo");
// events are sent to this class, hence this class needs to have the CMainWindowEventInterface
m_pMainWindow->SetEventCallback(this);
// create an image widget to display a window
WIDGET_HANDLE pImageWidget = m_pMainWindow->AddImage(0, 190, width, height);
// add a label and a slider for the low threshold
WIDGET_HANDLE pLabelCannyLow = m_pMainWindow->AddLabel(15, 15, 200, 30, "Canny low threshold: 0");
m_pSliderCannyLow = m_pMainWindow->AddSlider(15, 30, 200, 40, 0, 1020, 102, m_nCannyLowThreshold);
// add a label and a slider for the high threshold
WIDGET_HANDLE pLabelCannyHigh = m_pMainWindow->AddLabel(15, 70, 200, 30, "Canny high threshold: 0");
m_pSliderCannyHigh = m_pMainWindow->AddSlider(15, 85, 200, 40, 0, 1020, 102, m_nCannyHighThreshold);
// add a label and a slider for the number of lines to extract
WIDGET_HANDLE pLabelLines = m_pMainWindow->AddLabel(260, 15, 200, 30, "Circles to extract: 0 lines");
m_pSliderLinesToExtract = m_pMainWindow->AddSlider(260, 30, 200, 40, 0, 30, 5, m_nCirclesToExtract);
// add labels/sliders for specifying the radius interval of interest
WIDGET_HANDLE pLabelMinRadius = m_pMainWindow->AddLabel(260, 70, 200, 30, "Min radius: 0");
m_pSliderMinRadius = m_pMainWindow->AddSlider(260, 85, 200, 40, 1, 200, 5, m_nMinRadius);
WIDGET_HANDLE pLabelMaxRadius = m_pMainWindow->AddLabel(260, 125, 200, 30, "Max radius: 0");
m_pSliderMaxRadius = m_pMainWindow->AddSlider(260, 140, 200, 40, 1, 200, 5, m_nMaxRadius);
// add a button to toggle between the original image and the processed one
m_pButton = m_pMainWindow->AddButton(510, 80, 110, 35, "Show Edges");
// add a labels to display processing stats
WIDGET_HANDLE pLabelMS = m_pMainWindow->AddLabel(560, 15, 70, 20, "0 ms");
WIDGET_HANDLE pLabelFPS = m_pMainWindow->AddLabel(560, 45, 70, 20, "0 fps");
// make the window visible
m_pMainWindow->Show();
char buffer[1024];
CVec3dArray resultListCircles(50);
CDynamicArrayTemplate<int> resultHits(50);
CVec2dArray edgePoints(10000), edgeDirections(10000);
// main loop
while (!pApplicationHandler->ProcessEventsAndGetExit())
{
if (!capture.CaptureImage(&pImage))
break;
// this is for visualization purposes only
ImageProcessor::ConvertImage(pImage, &visualizationImage);
get_timer_value(true);
// convert input image to grayscale image
ImageProcessor::ConvertImage(&image, &tempImage, true);
// smooth image
ImageProcessor::GaussianSmooth3x3(&tempImage, &grayImage);
// detect edges with Canny edge detector
ImageProcessor::Canny(&grayImage, edgePoints, edgeDirections, m_nCannyLowThreshold, m_nCannyHighThreshold);
// detect lines with Hough transform
ImageProcessor::HoughTransformCircles(edgePoints, edgeDirections, width, height, m_nMinRadius, m_nMaxRadius, m_nCirclesToExtract, 1, resultListCircles, resultHits, &visualizationImage);
const unsigned int t = get_timer_value();
// display the speed stats
sprintf(buffer, "%2.2f ms", t / 1000.0f);
m_pMainWindow->SetText(pLabelMS, buffer);
sprintf(buffer, "%3.2f fps", 1000000.0f / t);
m_pMainWindow->SetText(pLabelFPS, buffer);
sprintf(buffer, "Canny low threshold: %i", m_nCannyLowThreshold);
m_pMainWindow->SetText(pLabelCannyLow, buffer);
sprintf(buffer, "Canny high threshold: %i", m_nCannyHighThreshold);
m_pMainWindow->SetText(pLabelCannyHigh, buffer);
sprintf(buffer, "Min radius: %i", m_nMinRadius);
m_pMainWindow->SetText(pLabelMinRadius, buffer);
sprintf(buffer, "Max radius: %i", m_nMaxRadius);
m_pMainWindow->SetText(pLabelMaxRadius, buffer);
sprintf(buffer, "Circles to extract: %i", m_nCirclesToExtract);
m_pMainWindow->SetText(pLabelLines, buffer);
// display either the original image or the processed image
if (m_bShowEdges)
{
ImageProcessor::Canny(&grayImage, &grayImage, m_nCannyLowThreshold, m_nCannyHighThreshold);
m_pMainWindow->SetImage(pImageWidget, &grayImage);
}
else
m_pMainWindow->SetImage(pImageWidget, &visualizationImage);
}
delete m_pMainWindow;
delete pApplicationHandler;
return 0;
}
